Depth mapping with a head mounted display using stereo cameras and structured light

ABSTRACT

A tracking system generates a structured light pattern in a local area. The system includes an array of lasers that generate light. The array of lasers includes a plurality of lasers and an optical element. The plurality of lasers are grouped into at least two subsets of lasers, and each of the at least two subsets of lasers is independently switchable. The optical element includes a plurality of cells that are each aligned with a respective subset of the array of lasers. Each cell receives light from a corresponding laser of the array of lasers, and each cell individually applies a modulation to the received light passing through the cell to form a corresponding portion of the structured light pattern that is projected onto a local area.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the benefit of U.S. Provisional PatentApplication No. 62/136,549, filed Mar. 22, 2015, the disclosure of whichis hereby incorporated by reference in its entirety. Additionally, thefollowing applications are hereby incorporated by reference as if fullyset forth herein, namely U.S. patent application Ser. No. 13/497,589,filed on Sep. 19, 2010, International Patent Application No.WO2013/088442 filed Dec. 13, 2012, U.S. Provisional Patent ApplicationNo. 61/926,476, filed on Jan. 13, 2014, U.S. Provisional PatentApplication No. 62/035,442, filed on Aug. 10, 2014.

BACKGROUND

The present disclosure generally relates to three-dimensional depthmapping using structured light, and more particularly, but notexclusively, to a system for tracking.

Tracking of styluses and fingers in a three-dimensional field in frontof the computer is available and uses various tracking technologies.Tracking technologies may include, among others, visual and IR imagingand ultrasonics. The term ‘tracking’ may refer to following thepositioning and motion of an object in three-dimensional space andincludes processing of inputs received at a tracking computer in orderto determine the position or motion. For example, in the case of acomputer mouse, tracking may include processing the mouse outputs todetermine motion. In the case of an object being followed visually, theterm tracking may include image processing of successive framescapturing the object. One method of imaging simply uses cameras to viewand process a scene. The cameras may follow specific marks that areplaced in the scene or the imaging system can look for specificallyrecognizable features such as fingers. Drawbacks of such visual imaginginclude a requirement that the three-dimensional area is sufficientlyilluminated. Furthermore, the only features that can be tracked arefeatures that are recognized in advance, and motion tracking combinedwith feature recognition may not give accurate results. To overcomethese problems, tracking using structured light was introduced.

In tracking using structured light, a known pattern of pixels isprojected onto a local area in which tracking is to occur. The way thatthe pattern deforms on striking surfaces allows the vision system tocalculate the depth and surface information of objects in the scene.Typical patterns used comprise of grids one or more structure lightelements such as horizontal or vertical bars. In other embodiments, astructured light pattern may comprise of other regular geometricelements such as circles, triangles, angled bars, or any combination ofthereof. Various devices use structured light patterns to enable the useof gesture recognition and 3D depth mapping. The structured lightpattern transmitter includes a laser emitter and a diffractive opticalelement (DOE).

Projecting a narrow band of light onto a three-dimensionally shapedsurface produces a line of illumination that appears distorted fromother perspectives than that of the projector, and can be used for anexact geometric reconstruction of the surface shape.

A faster and more versatile method is the projection of patternscomprising of many bars at once, or of arbitrary fringes, as this allowsfor the acquisition of a multitude of samples simultaneously. Seen fromdifferent viewpoints, the pattern appears geometrically distorted due tothe surface shape of the object.

Although many other variants of structured light projection arepossible, patterns of parallel bars are widely used. The displacement ofthe bars allows for an exact retrieval of the three-dimensionalcoordinates of any details on the object's surface.

One known method of stripe pattern generation is the laser interferencemethod, which utilizes two wide planar laser beam fronts. Interferencebetween the beam fronts results in regular, equidistant line patterns.Different pattern sizes can be obtained by changing the angle betweenthese beams. The method allows for the exact and easy generation of veryfine patterns with unlimited depth of field. Disadvantages include thehigh cost of implementation, difficulties providing the ideal beamgeometry, and laser typical effects such as speckle noise and thepossible self-interference with beam parts reflected from objects.Furthermore, there is no means of modulating individual bars, such aswith Gray codes.

Specifically, a disadvantage of using a single source emitter such as anedge emitter laser diode is the fact that the light pattern that itproduces can be controlled only as a single unit. This means that whilethe light pattern can be entirely turned on, off or dimmed, it cannot bechanged dynamically.

Structured light patterns may be constructed using invisible light suchas infrared light. Alternatively, high frame rates may render thestructured light imperceptible to users or avoid interfering with othervisual tasks of the computer.

The vertical-cavity surface-emitting laser, (VCSEL) is a type ofsemiconductor laser diode in which laser beam emission is perpendicularfrom the top surface, as opposed to conventional edge-emittingsemiconductor lasers, which emit from surfaces formed by cleaving theindividual chip out of a wafer.

There are several advantages to producing VCSELs, as opposed toedge-emitting lasers. Edge-emitters cannot be tested until the end ofthe production process. If the edge-emitter does not function properly,whether due to bad contacts or poor material growth quality, theproduction time and the processing materials have been wasted. VCSELscan be tested at several stages throughout the process to check formaterial quality and processing issues. For instance, if the vias havenot been completely cleared of dielectric material during the etch, aninterim testing process may be used to determine that the top metallayer is not making contact with the initial metal layer. Additionally,because VCSELs emit the beam perpendicularly to the active region of thelaser, tens of thousands of VCSELs can be processed simultaneously on athree-inch Gallium Arsenide wafer. Furthermore, even though the VCSELproduction process is more labor and material intensive, the yield canbe controlled to a more predictable outcome.

There is a significant advantage in that the use of VCSEL laser arrayfor a structured light system, in that use of the array allows for areduction in the size of the structured light transmitter device. Thereduction is especially important for embedding the transmitter indevices with size restrictions such as a mobile phone or wearabledevices.

However, despite the above advantages, the VCSEL array is not currentlyused for structured light scanning systems for a number of reasons. Manydiffraction patterns require a coherent Gaussian shaped beam in order tocreate the high density patterns needed for high-resolution tracking.The VCSEL array merely provides multiple individual Gaussian beamspositioned next to each other and usually with overlap between them. Themultiple points and overlap between them reduce the detectionperformance in high density areas in the light pattern and restrict theuse of various diffractive design techniques that requires a pre-definedGaussian beam. Such designs include a Top-Hat design, Homogeneous linegenerators and other complex high performance structures.

Indeed the problem with a standard diffractive design is that the entireVCSEL laser array is used as a single light source. Thus, when using amultiple spot design the array image is obtained for each spot insteadof having a focused Gaussian beam. A diffractive design that requires aGaussian beam as an input will not get the required output at all. Theproblem becomes more severe in dense light patterns, because in theselight patterns there is a need to focus the source beam onto a tiny spotin order to separate the features and this is not possible if the lightsource is an array of lasers.

SUMMARY

The present embodiments provide an array of lasers, such as a VCSELlaser array. Each individual laser of the laser array is modulatedindividually or in groups. The individual lasers or groups of lasers maybe modulated statically or dynamically to generate and alter astructured light pattern as needed.

Each laser in the array or group of lasers being modulated together isprovided with its own optical element. The optical element associatedwith an individual laser or group of laser is typically a diffractionelement. The diffraction element may be individually controlled so thatthe overall structured light pattern can be selected for givencircumstances and/or can dynamically follow regions of interest.

The present disclosure provides an apparatus for generating a structuredlight pattern. The structured light pattern is generated by an apparatuscomprising an array of lasers arranged to project light in a patterninto a three-dimensional (3D) space and a plurality of optical elements.Each optical element defines an individual cell of the VCSEL laserarray. Each cell is aligned with respective subsets of the VCSEL laserarray. The optical element of each cell individually applies amodulation to light passing through the optical element to generate adistinguishable part of the structured light pattern. In an embodiment,a laser emitter or an array of laser emitters is grouped into a numberof subsets of laser emitters, such as rows or columns of laser emitterswhich may be switched on or off independently, by a suitable driver,thus creating a modifiable pattern. In another embodiment, theswitchable subsets of laser emitters can be collected into twoswitchable groups of even and odd rows.

Optical modulation may comprise any of a diffractive modulation,refractive modulation, or some combination of a diffractive and arefractive modulation. In an embodiment, the optical elements and thesubset of the array of lasers comprising a respective cell areconstructed from a single molded element. In an another embodiment, awidth of the cell is 1 mm or less. In still another embodiment, thewidth of the optical element is 1 mm or less and the cells areindividually controllable to change the diffractive modulation.

The cells may be configured to dynamically change the generatedstructured light pattern based on receiving one or more instructionsfrom an external control or a processor. That is to say, one or morediffraction properties associated with a cell may be dynamically changedaccording to received data. A captured frame comprising a plurality ofpixels from a local area may be analyzed and a new laser configurationmay be reached to optimize tracking. In an embodiment, the cellsassociated with a structured light emitter are further controllable withrespect to the position and shape of the generated structured lightelement. In an embodiment, the dynamic control is configurable to applyincreased resolution of the structured light pattern to parts of thescene to apply reduced resolution of the structured light pattern toother parts of the scene. In other embodiments, the dynamic changes tothe structured light pattern comprise changes to orientation of thestructured light pattern or structured light elements comprising thestructured light pattern. The dynamic changes to the structured lightpattern may result in a change in one or more cells, in a cellwisemanner, associated with a light array. That is, the dynamic change in aprojected and/or generated pattern is associated with a correspondingchange in particular cell in a plurality of cells. The changes may beone or more of a change in optical functions including emissionintensity, polarization, filtering parameters, and focus.

Unless otherwise defined, all technical and/or scientific terms usedherein have the same meaning as commonly understood by one of ordinaryskill in the art to which the invention pertains. Although methods andmaterials similar or equivalent to those described herein can be used inthe practice or testing of embodiments of the invention, exemplarymethods and/or materials are described below. In case of conflict, thepatent specification, including definitions, will control. In addition,the materials, methods, and examples are illustrative only and are notintended to be necessarily limiting.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of a structured light emitter (SLE) for 3Dtracking using patterned light according to an embodiment.

FIG. 2A depicts an SLE illuminating a local area with one or morepatterns of light, according to an embodiment.

FIG. 2B illustrates a simplified schematic diagram of the SLE depictedin FIG. 2A in which a cell comprises two or more laser emitters,specifically three in the case illustrated, according to an embodiment.

FIG. 2C illustrates a simplified schematic diagram of the SLE depictedin FIG. 2A in which different cells have different designs and differentorientations, according to an embodiment.

FIG. 2D illustrates a simplified schematic diagram of SLE depicted inFIG. 2A in which in which each cell is responsible for producing variouslight features of the pattern that are not necessarily organized inseparate tile structures, according to an embodiment.

FIG. 3 is a simplified schematic diagram that illustrates an exemplarytracking system according to an embodiment.

FIG. 4A illustrates a SLE comprising an optical element, LPA, andfeatures for directing a light beam in a particular direction, accordingto an embodiment.

FIG. 4B depicts a SLE comprising an optical element for focusing anincident optical beam, according to an embodiment.

FIG. 4C depicts a SLE for shaping an incident optical beam, according toan embodiment.

FIG. 5A shows a hand being tracked by a light pattern comprising aplurality of horizontal bars orientated parallel to the hand, inaccordance with an embodiment.

FIG. 5B shows a hand being tracked by a light pattern comprising aplurality of vertical bars, according to an embodiment.

FIG. 6A shows a change in the orientation of the bars from horizontal tovertical, according to an embodiment, in accordance with an embodiment.

FIG. 6B shows a change in the orientation of the bars from horizontal tovertical, according to an embodiment, in accordance with an embodiment.

FIG. 6C shows an increase in density of the horizontal bars, inaccordance with an embodiment.

FIG. 6D shows a change in shape of a projected pattern, in accordancewith an embodiment.

FIG. 6E shows changes in intensity, in accordance with an embodiment.

FIG. 7 illustrates a simplified schematic diagram of the SLE in FIG. 2Atracking a light object and a dark object, according to an embodiment.

FIG. 8 is a simplified flow diagram illustrating a procedure formodifying the pattern in one or more cells in accordance with anembodiment.

The figures depict embodiments of the present disclosure for purposes ofillustration only. One skilled in the art will readily recognize fromthe following description that alternative embodiments of the structuresand methods illustrated herein may be employed without departing fromthe principles, or benefits touted, of the disclosure described herein.

DETAILED DESCRIPTION

FIG. 1 is a schematic diagram of a structured light emitter (SLE) 100for 3D tracking using patterned light according to an embodiment. TheSLE 100 includes a light producing array (LPA) 110 configured to emitpatterned light such as structured light. In one or more embodiments,the LPA 110 is an array of lasers comprising a plurality of lightsources such as laser emitters 120. The SLE 100 also includes an opticalelement 140. In various embodiments, the optical element 140 comprises aplurality of cells 160. Each cell 160 is configured as a diffractiveelement and is aligned with a particular laser emitter 120, so thatindividual cells of the plurality of cells 160 modulate the lightemitted by a respective laser emitter 120. Zoom 180 of the cells 160shows four cells 160 each with a unique diffractive pattern. The SLE 100may generate a structured light pattern from the LPA 110. In one or moreembodiments, the generated structured light pattern is projected into a3D space for tracking objects and parts of a local area within thatspace. As used herein, a generated pattern is assumed to be associatedwith a structured light pattern.

The LPA 110 may generate multiple Gaussian shaped beams with overlap,which reduce the detection performance in high-density areas in thegenerated light pattern and restricts the use of various diffractivedesign techniques that require a pre-defined Gaussian beam. For example,diffractive design techniques may include a Top-Hat design, Homogeneousline generators, and other complex high performance structures. The LPA110 may comprise one or more laser emitters 120. A laser emitter 120 maybe a VSCEL laser configured to emit a Gaussian laser beam in theinfrared (IR), visible (RGB), or ultra violet (UV) segments of theelectromagnetic spectrum.

The LPA 110 may be configured with an external controller (not shown)such that each laser emitter 120 in the LPA 110 may be operatedindividually or in groups. For example, the individual laser emitters120 are modulated statically or dynamically to provide and alter anemitted light associated with a particular laser emitter 120 as needed.A significant advantage may be gained through the use of a LPA 110. Forexample, the use of a LPA 110 comprising individual laser emitters 120would reduce the size of the SLE 100 allowing the SLE 100 to be embeddedin devices with size restrictions such as mobile phones or otherwearable devices.

Each laser emitter 120, or group of lasers emitters 120, being modulatedtogether, may be aligned with one or more cells 160 associated with theoptical element 140. For example, light generated by a laser emitter 120passes through a cell 160 and the cell 160 is configured to applydiffractive modulation to light passing through so that each subset ofcells 160 provides a distinguishable part of the structured lightpattern (a pattern). In various embodiments, the optical element 140 ispositioned on the surface adjacent to the SLE 100 such that the plane ofthe optical element 140 is parallel to that of the LPA 110. In otherembodiments, the width of the optical element 140 is 1 millimeter orless.

It is important to note that a subset as used herein is comprises onemember of a group, pairs of, triplets, combinations of, and dynamicallychanging combinations of cells 160 and associated laser emitters 120. Inone or more embodiments, each group of lasers is independentlyswitchable. That is, each subset of cells and associated laser emittersmay be independently controllable by a controller further describedbelow in conjunction with FIG. 3.

As depicted in FIG. 1, the surface of the optical element 140 may bedivided into one or more of cells 160. Each cell 160 in optical element140 represents an area that may be positioned above a single laseremitter 120 or a sub-group of laser emitters 120 that are controlledtogether via an external controller (not shown). It should be notedthat, the laser emitters 120 in the group or subgroup are controlledtogether, separately from laser emitters 120 in other groups orsubgroups.

The cell 160 associated with the optical element 140 is a controllableoptical diffraction element. That is, a unique diffractive pattern maybe designed for each cell 160. In some embodiments, the cell 160comprises a refractive optical element or some combination of refractiveand diffractive optical elements. In one or more embodiments, each cellindividually applies a diffractive modulation to the generated lightpassing through it.

In an embodiment, the width of a cell 160 is 1 millimeter or less. Thecells 160 of the optical element 140 can be individually controlled bothdynamically and statically by an external controller (not shown). Such aconfiguration of cells 160 may provide different light patterns atdifferent parts of the array so that the overall structured lightpattern can be selected for given circumstances and/or can dynamicallyfollow regions of interest. Light patterns generated by a cell 160 mayinclude structures such as bars, grids and dots and will be discussed ingreater detail below in conjunction with FIGS. 2A-2D and FIGS. 6A-6E. Inthe following, the term ‘cell’ relates to a surface operable with asingle laser operable or any group of laser emitters 120 that areoperated together to provide a particular part of a projected pattern.The structure and dynamic control of a cell 160 are further describedbelow. In the interest of convenience, diffractive optical elements areunderstood to mean, herein, diffractive optical elements, refractiveoptical elements, or any combination of diffractive and refractiveoptical elements.

A unique diffractive pattern may be designed for each cell 160, thusenabling the creation of any part of a structured light pattern. Forexample, a diffractive pattern that may be generated by a cell 160comprises light generated by a laser emitter 120 passing through thediffractive pattern of a cell 160. Zoom 180, shows a group of four cells160 wherein the light parts represent refractive elements, while thedark parts represent diffractive elements. The light passing through thediffractive pattern of a cell 160 may generate a sub-pattern of thestructured light and the overall pattern, may be formed from thepatterns produced by light passing through each individual cell 160. Forexample, the overall pattern is produced by tiling, overlapping, orother ways for positional of individual features generated by a cell 160or a subset of cells 160 associated with the optical element 140.

The diffractive pattern of a cell 160 is determined by a combination ofat least two optical functions. In one or more embodiments the firstoptical function is a positioning function that determines the positionof the light feature in the entire structured light image and mayutilize one or more optical elements to direct light. For example, apositioning function utilizes a prism blazed grating to change the pathof the light emitted by the associated laser emitter 120 andsubsequently passing through the cell 160. A second, optical function,may relate to the shape of the generated light feature. By way ofexample, such optical functions include line generators, a multi spotpattern, or other features including sub features of the generated lightpattern.

Additional optical functions may also be associated with cells 160.These additional optical functions include intensity, focal length,polarization, and phase. The optical functions listed above are not anexhaustive list and other types of optical functions will be apparentthose skilled in the art. It should also be noted that an opticalfunction listed above or a combination of optical functions may beimplemented by one cell 160 or a combination of cells 160 associatedwith an optical element 140.

Depending on the designed position of the optical element 140 comprisingcells 160 relative to the LPA 110, any pattern may be generated. Forexample, adjacent-Gaussian beams generated by one or more laser emitters120 are combined to avoid the as a single light source perspective. Inanother embodiment, the cell 160 may generate a dynamic pattern bymodulating the combination of one or more optical functions associatedwith one or more cells 160. For example, each cell 160 can be controlledindividually controlled by modulating the current or voltage waveformapplied to it. In one or more embodiments a current or voltage waveformis received from an external controller (not shown) such as a processorassociated with a mobile device. External controller or processors arefurther described, below, in conjunction with FIG. 3.

In various embodiments, cells 160 are configured to be controlleddynamically to provide changes to the generated structured lightpattern. For example, a cell 160 may be dynamically controlled to changethe diffractive pattern of a cell 160. In various embodiments, thegenerated pattern may be changed to increase or decrease resolution invarious parts of a scene. For example, the pattern may change toincrease resolution based on a determined level of interest being high.Alternatively, if the determined level of interest is low, the generatedpattern may be changed to decrease resolution. In other embodiments, agenerated pattern may be changed to increase or decrease at least one ofintensity, polarization, density, focal length, filtering parameters, orany other feature of light apparent to those skilled in the art. Thedynamic changes to one or more cells 160 comprise a cellwise change.That is, the dynamic change in a projected and/or generated pattern isassociated with a corresponding change in a particular cell. Patternsthat may be generated by a SLE 100 are further described below inconjunction with FIGS. 6A-E.

It should be noted that, different parts of a pattern may be,momentarily changed in order to provide additional details regardingtriangulation and depth estimation based on a determined level ofinterest. That is, the cell 160 may be dynamically changed according toreceived data associated with a frame captured with an initialconfiguration of LPA 110. For example, a frame comprising atwo-dimensional (2D) array of pixels is captured using an initialconfiguration of LPA 110. The received frame is analyzed and a processor(not shown) which may determine a news initial LPA 110 configuration.This new LPA 110 configuration becomes the new initial LPA 110configuration for the next stage as the cycle continues. An example isillustrated and discussed below in conjunction with FIG. 8.

In one embodiment, the intensity of the generated light pattern istypically changed. The intensity of a generated pattern may be changedover part or all of the generated light pattern. For example, parts ofthe local area may be brightly lit by incident light while other partsof the local area are dimly lit. In the example above, high intensitylight may be aimed at the brightly lit parts and low intensity light maybe aimed at the dimly lit regions of the local area. Other forms ofintensity modulation may include switching one or more cells 160associated with a LPA 110 or one or more subsets of laser emitters 120associated with a cell 160 into on or off states simultaneously orsuccessively. In various embodiments, modulation of a generated lightpattern is employed to save power.

In other embodiments, the density or orientation of the generated may bechanged to provide a different view of the local area in order to enableaccurate tracking and depth perception of an object. In the particularexample of orientation, a feature of the local area may be moreeffectively illuminated in a given orientation. Additional lightpatterns are discussed in further detail below in conjunction with FIGS.5 and 6.

FIGS. 2A-2D illustrate each a simplified schematic diagram depictingvarious embodiments of SLE 200 generating a light pattern onto a localarea in accordance with an embodiment. SLE 200 is an embodiment of SLE100 described above in conjunction with FIG. 1 and comprises a pluralityof cells 211-219 including a LPA 110, and an optical element 140. InFIGS. 2A-2D, the SLE 200 includes nine distinct cells (e.g., cells211-219) wherein each cell 211-219 is an embodiment of cell 160 asdescribed above in conjunction with FIG. 1. That is, each SLE 200includes an LPA 110 comprising one or more laser emitters 120 alignedwith corresponding cells 211-219. In other embodiments, SLE 200 maycomprise more or fewer cells than those depicted herein.

FIG. 2A depicts the SLE 200 illuminating a local area with one or morepatterns of light, according to an embodiment. The SLE 200 comprises anLPA (e.g., LPA 110) and an optical element (e.g., the optical element140), according to an embodiment. As described above in conjunction withFIG. 1, the LPA 110 comprises one or more laser emitters 120 whereineach laser emitter 120 is coupled to a corresponding cell (e.g., one ofcells 211-219). Each cell 211-219 illuminates different local area tile(e.g., local area tile 221-219) of local area 220 in a forwardprojection. For example, cell 211 illuminates local area tile 221.Similarly, cell 219 illuminates local area tile 229. It should be notedthat in local area 220, each local area tile (e.g., 221-229) has adifferent pattern. In various embodiments all local area tiles 221-219merge together to form a complete light pattern.

Cells 211-219 are aligned with laser emitters 120 comprising the SLE100. Each cell 211-219 individually applies a diffractive modulation tothe light passing through the cell such that each cell 211-219 projectsa distinguishable part of the structured light medium. The cells may beindividually controlled in order to change their diffractive modulation.Therefore, different parts of the generated pattern may be different orthe different parts of the scene may contain a different density ofstructured light elements. Each cell 211-219 and respective laseremitter (not shown) together project light onto a corresponding localarea tile. For example, a cell 211 projects a light pattern on localarea tile 221 comprising three horizontal bars and cell 219 does notilluminate adjacent local area tiles 222, 224, and 225. Similarly, acell 216 projects a light pattern on local area tile 226 comprisingthree horizontal bars and cell 216 does not illuminate adjacent localarea tiles 222, 223, 225, 228, and 229. All the projected tiles (e.g.,local area tile 221-220) merge together to form a complete light patternon local area 220. In FIG. 2A patterns on local area tiles 221 and areillustrated, and the patterns on the remaining local area tiles areomitted for simplicity.

FIG. 2B illustrates a simplified schematic diagram of the SLE 200depicted in FIG. 2A in which a cell 211-219 comprises two or more laseremitters. In FIG. 2B, the SLE 200 is configured to project a pattern ona local area 220. The pattern projected by SLE 200 represents avariation of the projected pattern of FIG. 2A and is formed by tilingthe individual patterns produced by cells 211-219 on local area tiles221-229. Cell 211 illuminates local area tile 221 while cell 213illuminates local area tile 223. Similarly, cells 214 and 216 illuminatelocal area tiles 224 and 226 respectively. In FIG. 2B, each cell 211-219illuminates a different triplet of local area tiles 221-219. A tripletis a row of local area tiles 221-229 that share a pattern. Asillustrated in FIG. 2B, local area 220 comprises a set of threetriplets. For example, local area tiles 221-223 comprise one triplet,local area tiles 224-226 comprise another, and local area tiles 227-229comprise a third. Local area tiles 221-229 in a triplet share differentpatterns than those local area tiles in adjacent triplets. For example,local area tiles in the first triplet 221-223 comprise a pattern of twosolid horizontal bars each separated by a dotted horizontal bar whilelocal area tiles comprising the second triplet, local area tile 224-227containing no bars. In various embodiments, the combination of one ormore triplets of local area tiles 221-219 comprise one complete pattern.

FIG. 2C illustrates a simplified schematic diagram of the SLE 200depicted in FIG. 2A in which different cells have different designs anddifferent orientations. The SLE 200 of FIG. 2C is configured to projecta light pattern on a local area 220. The projected light pattern maycomprise one or more light patterns projected by cells 211-219. Itshould be noted that different cells 211-219 have different designs anddifferent orientations such as horizontal 230 and vertical bars 240. InFIG. 2C each cell 211-219 illuminates one or more local area tiles221-229 in local area 220.

Cells 211-219 may project a light pattern on local area 220 of variablesizes, including aspect ratios. In FIG. 2C, the local area 220 includesa light pattern comprising squares and rectangles of various sizes. Invarious embodiments, regardless of the dimensions of the individuallocal tiles 221-229, the area of the local area 220 is held constant. Byway of example, if the area of a particular local area tile 229 isexpanded the area of one or more of the other local area tiles 221-228is, proportionately decreased such that the total area of local area 220is maintained. Alternatively, if the area of a particular local areatile 221-229 is decreased, the area of one or more of the remaininglocal area tiles 221-219 in a local area 220 is proportionatelyincreased. For example, large rectangular local tile 224 causes areduction in the area of the square tile 221. Similarly, for example,the large rectangular local tile 225 results in a change in the size andaspect ratio of local area tile 226 such that local area tile 226 formsa small rectangle. Additionally, a cell 211-219 may vary the orientationof an illuminated local area tile 221-229 by rotating the tile by a setnumber of degrees. In some embodiments, the required tile sizes, aspectratios, and orientations is calculated in real-time by a processor (notshown) and an imager (not shown). The processor and imager are furtherdescribed below.

FIG. 2D illustrates a simplified schematic diagram of SLE 200 depictedin FIG. 2A in which in which each cell is responsible for producingvarious light features of the pattern that are not necessarily organizedin separate tile structures. The SLE 200 of FIG. 2D is configured toproject a pattern on a local area 220 such that the patterns projectedby the different cells 211-219 have different designs. In FIG. 2D, eachcell 211-219 is configured to illuminate one or more local area tiles221-229 with light features 250. FIG. 2D shows local area tiles 221-223illuminated with light features 250 comprising one solid horizontal barand two dashed horizontal bars while local area tiles 224-229 are blank.In some embodiments, the light features may be any number of horizontalbars, veridical bars, or other shapes (e.g., an irregular polygon).Additional light features are described below in conjunction with FIG.6. It should be noted that in other embodiments the patterns projectedmay have different designs, different orientations, or any combinationthereof.

FIG. 3 is a simplified schematic diagram that illustrates an exemplarytracking system 300 according to an embodiment. The tracking system 300tracks one or more objects in a local area 330. The tracking system 300comprises an LPA 310 to generate laser light, an optical element 320 tomodulate the generated laser light and illuminate a local area 330. TheLPA 310, optical element 320, and local area 330 are arranged along anoptical axis 340. In some embodiments, the LPA 310 and optical element320 are associated with an embodiment of SLE 100. FIG. 3 also comprisesan imager 350 for tracking information about the local area 330 andproviding feedback to a controller 360. The controller 360 receives datafrom the imager 350 and generates voltage and/or current waveforms tothe LPA 310 and optical element 320 to illuminate the local area 330.

The LPA 310 and optical element 320 are embodiments of LPA 110 andoptical element 140. In various embodiments, the LPA 310 generates acoherent optical beam in ranges of wavelengths of light (i.e., “bands oflight). Example bands of light generated by the LPA 310 include: avisible band (˜380 nm to 750 nm), an infrared (IR) band (˜750 nm to 1500nm), an ultraviolet band (1 nm to 380 nm), another portion of theelectromagnetic spectrum of some combination thereof. The generatedlaser light may then be transmitted to the local area 330 via theoptical element 320, which modulates the laser light generated by theLPA 310. In various embodiments, the LPA 310 and optical element 320 areconfigured to project the generated laser light and the generated laserlight is projected onto local area 330. The modulated laser lightilluminates all or part of a 2D or 3D local area 330. For example, theLPA 310 comprises of an array of VCSEL lasers that generate a Gaussianlaser beam which is subsequently modulated by the optical element 320and illuminates a local area 330. In one or more embodiments, themodulated laser represents a set of horizontal bars, vertical bars, orregular geometrical shape. Embodiments of the LPA 310 and opticalelement 320 are further described above in conjunction with FIGS. 1 and2.

Any particular cell associated with an optical element 320 may allow theposition, the phase, the focus, the shape, the intensity, or thepolarization of the generated beam to be modified. The above is not anexhaustive list and other modifications will be apparent to thoseskilled in the art. Additionally the optical functions may be utilizedby a single optical element or by multiple optical elements as describedfurther below in conjunction with FIG. 4.

The imager 350 is configured to monitor all or part of the local area330. In various embodiments, the imager 350 monitors the local area 330and captures one or more frames of the local area 330. The imager 350may be a digital camera configured to capture one or more digital framesor any imagery sensor such as a complementary metal oxide silicon (CMOS)array. For example, the imager 350 is a digital camera configured tocapture still frames or a digital video camera configured to capture asequence of one or more frames of local area 330. In variousembodiments, the imager 350 captures frames in a visible, IR, UV, orsome combination thereof, and transmits the captured one or more framesto controller 360. It should be noted that in various embodiments, theimager 350 is configured to capture one or more frames in the sameelectromagnetic band as that in which the LPA 310 is operating. That is,if the LPA 310 is projecting a pattern in the IR band, the imager 350 isconfigured to also capture framers in the IR band. In some embodiments,the captured frames may be transmitted to the controller 360 in a fileformat which represents a standardized means of organizing and storingdigital images. For example, the captured frames may be transmitted as aJoint Photographic Experts Group (JPEG) file, a bitmap (BMP) file, or apotable network graphics (PNG) file. In another example, the imager 350transmits a series of captured frames in a suitable video file format.In various embodiments, the image frames generated by the imager 350comprise data in an uncompressed, compressed, or a vector format. Theone or more frames captured by the imager 350 are transmitted to thecontroller 360.

The controller 360 is connected to both the imager 350 and the LPA 310.The controller 360 may be configured to generate voltage or currentwaveforms to modulate light produced by the LPA 310. In an embodiment,the current or voltage waveforms generated by controller 360 are one ormore instructions to modulate the light produced by the LPA 310 and thecontroller 360 is configured to transmit instructions to the LPA 310.For example, the controller 360 may comprise a current source, a voltagesource, and an electronic filter configured to control one or morelasers associated with the LPA 310. In other embodiments, the controller360 may also be configured to dynamically control the optical element320 including one or more cells 160 comprising the optical element 320.For example, the controller 360 may provide instructions to the LPA 310including the optical element 320 to illuminate the local area 330 witha pattern comprising one or more vertical bars, one or more horizontalbars, or any other shape capable of being produced by the opticalelement 320 by diffracting light produced by lasers associated with theLPA 310. In one or more embodiments, instructions to the optical element320 comprise instructions to one or more subsets of cells 160 associatedwith the optical element 320. Thus, cells associated with the opticalelement 320 may be dynamically controlled to provide changes to astructured light pattern

In still other embodiments, the controller 360 may provide instructionsto the LPA 310 and optical element 320 to alter one or more opticalfunctions associated with the pattern generated by the optical element320. For example, the controller 360 may provide instructions to the LPA310 to independently control one or more subsets of laser emittersassociated with the LPA 310. It should be noted that a subset of LPA 310comprises two or more laser emitters 120. In an embodiment, a subset ofthe LPA 310 comprising two or more laser emitters including respectivecells 160 and optical element 320 are constructed from a single moldedelement.

The controller 360 may be an external controller, or a digital processorsuch as a mobile phone, configured to perform one or more processesassociated with tracking and performing light modulations in order toimprove tracking. For example, the controller 360 provides instructionsto modify one or more optical functions associated with the lightpattern produced by the LPA 310 including the optical element 320. In anembodiment, the controller 360 is configured to receive frames from theimager 350, analyze the received frames and transmit one or moreinstructions to the LPA 310 and optical element 320 to modulate theilluminated local area accordingly. Instructions to modify the producedpattern may comprise directing, focusing or shaping the produced patternin order to improve tracking. In other embodiments, the processor mayprovide instructions to one or more subsets of the LPA 310 to switchinto an on or off state simultaneously, successively, or in coordinationwith an imager 350. The steps of receiving, analyzing, and transmittingare further described below in conjunction with FIG. 8.

FIG. 4A illustrates a SLE 400 comprising an optical element 410, LPA420, and features 430 for directing a light beam in a particulardirection, according to an embodiment. SLE 400 is an embodiment of SLE100 and LPA 420 and optical element 410 represent embodiments of LPA 110and optical element 140, respectively. As shown in FIG. 4A, the opticalelement 410 directs an incident optical beam generated by LPA 420 viaone or more features 430 protruding from optical element 410. Theincident optical beam reflects off a plurality of features 430 emergingfrom a front body 415 of the optical element 410. In an embodiment, thereflection of light off one or more features 430 causes the change indirection of the light beam. In other embodiments, and depending on thearrangement of features 430, light may be directed due to refraction,diffraction or a combination of refraction and diffraction. It should benoted that in some embodiments, the optical element 410 is an embodimentof optical element 140 and comprises one or more cells 160 configured toreflect, diffract, refract, an incoming light beam generated by the LPA420. In other embodiments, the cells 160 associated with the opticalelement 410 perform a combination of reflection, diffraction, refractionof the incoming light beam. In FIG. 4A, a saw tooth configuration of thefeatures 430 in which tooth-like shapes have a downwardly sloping upperface and a horizontal lower face cause downward bending of the light. Ascan be readily appreciated by one skilled in the art, in otherembodiments, features 430 may be configured such that light may bedirected in other directions.

FIG. 4B depicts a SLE 405 comprising an optical element 410 for focusingan incident optical beam, according to an embodiment. The SLE 405 is anembodiment of the SLE 100 described above in conjunction with FIG. 1.The SLE 405 comprises a construction 440 configured to focus an incidentlight beam generated by LPA 420. The construction 440 includes anoptical element 410 and a plurality of features 430 emerging from afront body 415. The construction 440 is configured to focus a light beamto a point 460. In FIG. 4B, the features 430 associated with theconstruction 450 are configured in a saw tooth configuration, but theorientation of the tooth-like features 430 is exchanged in the lowerhalf of the construction 440. The feature 430 at between the two sets offeatures 430 is configured as a plano-convex lens such that its focalpoint coincides with focal point 460. Such a construction 440 causesrays from the incident light beam striking the upper and lower halves ofthe beam to meet at focal point 460. Rays passing through the centerconverge at the focal point of the lens formed by feature 430. That isthe construction 450 emulates the functionality of a convex lens. Inother embodiments, the construction 450 may be configured to emulate thefunctionality of a concave lens with a focal point 450 located behindthe construction 450.

FIG. 4C depicts a SLE 407 for shaping the incident optical beam,according to an embodiment. The SLE 407 is an embodiment of SLE 100 andincludes an optical beam generated by the LPA 420 as well as an opticalelement 410, including a surface 470 emerging from the front body 415for shaping the optical beam. A preset random function is used to definea surface 470 of the optical element. It should be noted that in variousembodiments, the surface 470 may be realized by via one or more cells(e.g., cells 160) associated with the optical element 410. One or morereflective, diffractive, or any combination of reflective anddiffractive properties associated with a cell 160 may generate thesurface 470. For example, cells associated with the optical element 410are configured to provide a combination of constructive and destructiveinterference based on the angle of an incoming optical beam. In otherembodiments (not shown), one or more features (e.g., features 430)associated with the construction 440 may be utilized realize a surface470 and shape the incident optical beam. A shaped incident optical beammay provide spatial filtering of the incident optical beam. For example,spatial filtering may be used to increase the directionality of theincident optical beam. In another embodiment, the surface 470 may beused to scatter an incident optical beam in order to illuminate a localarea 330. As can be readily appreciated by one skilled in the art, invarious other embodiments, the surface 470 may be used to provide otherspatial filtering properties to an incident optical beam.

In one or more embodiments, the construction 440 comprising an opticalelement 140 and features 430 is configured to combine one or more of theoptical functions performed by SLE 400, 401, and 402 described above inconjunction with FIGS. 4A-4C. For example, in one or more embodiments, aconstruction 440 comprising three optical elements 140 may focus, bendin a downward direction, shape a beam produced by an LPA 110. In variousembodiments, optical functions such as focus, shape, etc. are performedby a construction 440 using one or more optical elements 140 to generateunique patterns in a local area. Moreover, in some embodiments, some orall of the components from some or all of FIGS. 4A-4C may be combined.For example, the SLE 400 may emit light that is coupled into theconstruction 440 that emits light that is coupled into an opticalelement 410 having a surface 470.

FIG. 5A shows a hand 510 being tracked by a light pattern comprising aplurality of horizontal bars 520 orientated parallel to the hand 510, inaccordance with an embodiment. In FIG. 5A, it is apparent that the oneor more horizontal bars associated with the generated light patterncomprising the horizontal bars 520 coincide with the axis of thefingers. Therefore, the determined information including data is limitedand it is difficult to identify and track the shape of the object in thelocal area (e.g., hand 510 being tracked). However, the fingers mayoften be the points of major interest as fingers may provide gesturesthat the system uses as commands. For example, based on one or moregestures tracked, the system changes, automatically, the orientation ofthe bars (e.g., horizontal to vertical or vertical to horizontal). Inother embodiments, the generated light pattern is a set of structuredlight generated by an optical element 140 associated with a SLE (e.g.,the SLE 100). Examples of structured light include light patternscomprising horizontal or vertical bars, grids, or other geometricalobjects configured to deform when striking a local area. Additionalgenerated light patterns are described below.

FIG. 5B shows a hand 510 being tracked by a light pattern comprising aplurality of vertical bars 530, according to an embodiment. The verticalbars 530 are orientated perpendicular to the axis of the fingersassociated with the hand 510. That is, the bars associated with thelight pattern comprising vertical bars 530 lie across the fingersassociated with the hand 510. Such a configuration of bars may providemore information regarding the object being tracked (e.g., the fingersassociated with the hand 510). In one or more embodiments, the choice ofstructured light (e.g., vertical bars 520 or horizontal bars 530) isperformed based on input to a processor associated with the SLE 100described above in conjunction with FIG. 3. The process of selecting astructured element is further described below in conjunction with FIG.8.

FIGS. 6A-E illustrate various changes that may be made to the lightpattern generated by the SLE 100 in order to improve tracking, inaccordance with one embodiment. FIGS. 6A-6E all contain two sets of barswherein the first set represents a first light pattern and the secondset of bars is the first light pattern after a change of one or more ofparameters associated with the bars in the set. In FIGS. 6A-E describedbelow, a changed parameter may be a spacing 620, a length 630, a density640, a shape 650, and an intensity 660.

FIG. 6A shows a change in the orientation of the bars from horizontal tovertical, according to an embodiment. FIG. 6A depicts a first lightpattern and a changed light pattern. The first light pattern includes aset of five bars with a spacing 620 of y_(o) and a length 630 of x_(o)while the changed light pattern comprises a set of five vertical barswith a spacing 620 of y and a length 630 of x. The spacing 620, y_(o)and the length 630 x_(o) are nominal spacing and lengths associated withan original configuration of bars. A change in orientation of the barsfrom horizontal or vertical maintains the maintains the length 630 andspacing 620 of the bars in the set. That is, as shown in FIG. 6A, thechanged bars have a spacing 620 of y=y_(o) and a length of x=x_(o). Inother embodiments, bars may undergo a change in orientation fromvertical to horizontal while maintaining relationships between space 620and length 630.

FIG. 6B shows a narrowing of the field of view resulting from a changein a set of bars, in accordance with an embodiment. FIG. 6B depicts afirst light pattern and a changed light pattern. The first light patterncomprises a set of horizontal bars comprising a spacing 620 of y_(o) anda length of x_(o). As depicted in FIG. 6B, the changed light patterncomprises set of bars that maintain the spacing 620 between the bars butnot the length 630. That is, in the changed light pattern the spacing620 is y_(o) and the length 630 is equal to a value x which is less thanx_(o). In various embodiments, such a decrease in length 630 may resultin a corresponding narrowing of the field of view. It should be notedthat, typically, a narrowing of the field of view may be useful withtracking objects. For example, in a case where fingers are a feature ofinterest and must be tracked a narrowing of the field of view isrequired. Alternatively, the field of view may be broadened byincreasing the length 630 such that it is greater than the nominallength x_(o). By way of example, a set of bars with a length 630 largerthan x_(o) are used to scan and locate a finger in a local area and oncethe fingers are found, the field of view is narrowed.

FIGS. 6C-E described in detail below, each, illustrate various lightpatterns that may be generated by the SLE 100 in order to track anobject of interest in the depth dimension, in accordance with anembodiment.

FIG. 6C shows an increase in density of the horizontal bars, inaccordance with an embodiment. The first light pattern comprises a setof five horizontal bars with a length 630, x_(o), and a density 640,u_(o). It should be noted that the parameter density 640 represents thenumber of bars in a given area. As shown in FIG. 6C the changed lightpattern is the first light pattern of FIG. 6C with a ten horizontalbars. Said another way, the density 640 of the changed light pattern islarger than that of the first light pattern in FIG. 6D. Alternatively,if the number of horizontal bars in the changed light pattern of FIG. 6Dwas less than five, then the density 640 of the changed light patternwould be less than that of the first light pattern. In a still anotherexample, a light pattern comprising a combination of high and lowdensity bars is projected on local area 220 such that high density barsare projected on objects of interest. In other embodiments, bars may bevertical. High density 640 bars (horizontal or vertical bars) may beused to increase the resolution of an object being tracked in the depthdimension. In various embodiments, a particular orientation and densityof a generated light pattern is dynamically controlled by controller360.

FIG. 6D shows a change in shape of a projected pattern, in accordancewith an embodiment. FIG. 6D comprises of a first light patterncomprising five solid horizontal bars 650 and a changed light patterncomprising five dashed horizontal bars 652. All other parameters such asspacing 620, length 630, and density 640 between the first light patternand the changed light pattern are maintained. In various embodiments,patterns may be generated by an optical element 140. For example, anoptical element may generate one or more triangles, squares, circles,ellipses, other irregular polygon, or some combination thereof. In oneor more embodiments, the generated pattern is determined by thecontroller 360 and is further described below in conjunction with FIG.8.

FIG. 6E shows changes in intensity of a projected pattern, in accordancewith an embodiment. The first light pattern comprises two low intensitybars 660 as well as three high intensity bars. FIG. 6E delineates achanged light pattern in which the low intensity bars 660 of the firstlight pattern have been changed to high intensity bars 662 in and viceversa in the changed light pattern. The process of choosing a particularlight pattern is further described below in conjunction with FIG. 8.

FIG. 7 illustrates a simplified schematic diagram of the SLE 700tracking a light object 710 and a dark object 720, according to anembodiment. SLE 700 depicted in FIG. 7 is an embodiment of SLE 200depicted in FIGS. 2A-D. A light object 710 is an object with greaterthan a threshold amount of reflectance in one or more optical bands(e.g., IR, UV, visual). Similarly, a dark object 720, is an object withless than a threshold amount of reflectance in one or more opticalbands. In various embodiments, the threshold amount of reflectance ispredefined and stored in controller 360. In other embodiments, thethreshold amount of reflectance is determined dynamically by thecontroller 360 based on one or more captured frames received from imager350.

In FIG. 7, the light object 710 is located in the local area tile 221.Cell 211 may decrease the intensity of the bars 230, thereby increasingthe resolution of the received tracking information as described abovein conjunction with FIG. 6. In other embodiments, one or more cells211-219 of a group of cells may illuminate local area tile 711. Itshould also be noted that in the illustration of the local area 220, adark object 720, is found in local area tile 226. In variousembodiments, local area tile 229 is illuminated by cell 219 and theintensity of the bars 230 is increased to increase the resolution of thetracking information received. In an embodiment, the cells 221-229receive information regarding bar 230 intensity from a processor asdescribed below in conjunction with FIG. 8. The different cells 211-219are able to operate independently and each cell 211-219 may beindividually controlled to react appropriately to the one or moreobjects in the associated local area tile 221-229.

FIG. 8 is a simplified flow diagram illustrating a method for modifyingthe pattern in one or more cells 160 in accordance with an embodiment.In one embodiment, the process of FIG. 8 is performed by the trackingsystem 300. In some embodiments, other devices may perform some or allof the steps of the process in other embodiments. Likewise, embodimentsmay include different and/or additional steps, or perform the steps indifferent orders.

The tracking system illuminates a 3D space with an initial laserconfiguration. Illuminating a local area may involve representing aninitial laser configuration associated with a previously generatedpattern. In one or more embodiments, an initial laser configuration theprevious laser configuration that was previously used to capture aframe. In other embodiments, the tracking system provides instructionsto a SLE to illuminate the local area with a previously used laserconfiguration.

The tracking system 300 captures 820 an image frame. For example, theframe may be captured using the imager 350. In various embodiments,frame may be captured in one or more electromagnetic bands (e.g., UV,IR, visible). The process of capturing a frame is further describedabove in conjunction with FIG. 3.

The tracking system 300 analyzes 830 the captured frame. In variousembodiments, the frame is analyzed 830 via one or more standardtwo-dimensional signal processing techniques the output of which are aset of characteristics or parameters related to the frame. For example,the analysis information may extract depth information (i.e., distancefrom the imager) from the captured frame such that a depth is associatedwith each object in the frame.

In some embodiments, the tracking system performs a lookup of storedanalysis guidelines associated with the captured frame. That is, for anyparticular configuration, there may be ones or more predefined analysisguidelines associated with an procedure for performing an analysis. Anexample analysis guideline may be, “determine a threshold level ofluminosity; determine a special variance.” In other embodiments,guidelines may involve instructions for one or more digital imageprocessing techniques

The tracking system 300 determines 840 a new laser configurationincluding one or more optical functions to apply. A new laserconfiguration may be associated with a change in modulation (i.e.,diffractive, refractive or some combination of diffractive andrefractive modulation), one or more optical function, a change inpattern, or some combination thereof. It should be noted that in one ormore embodiments, the new laser configuration is the initial laserconfiguration. That is, in some situations based on the captured frames,the controller 360 may determine that no change to the current laserconfiguration is needed.

The tracking system 300 updates 850 the laser configuration with the newlaser configuration and the process flow moves to 810, which illuminatesthe local area using the updated laser configuration.

Additional Configuration Information

The foregoing description of the embodiments of the disclosure has beenpresented for the purpose of illustration; it is not intended to beexhaustive or to limit the disclosure to the precise forms disclosed.Persons skilled in the relevant art can appreciate that manymodifications and variations are possible in light of the abovedisclosure.

Some portions of this description describe the embodiments of thedisclosure in terms of algorithms and symbolic representations ofoperations on information. These algorithmic descriptions andrepresentations are commonly used by those skilled in the dataprocessing arts to convey the substance of their work effectively toothers skilled in the art. These operations, while describedfunctionally, computationally, or logically, are understood to beimplemented by computer programs or equivalent electrical circuits,microcode, or the like. Furthermore, it has also proven convenient attimes, to refer to these arrangements of operations as modules, withoutloss of generality. The described operations and their associatedmodules may be embodied in software, firmware, hardware, or anycombinations thereof.

Any of the steps, operations, or processes described herein may beperformed or implemented with one or more hardware or software modules,alone or in combination with other devices. In one embodiment, asoftware module is implemented with a computer program productcomprising a computer-readable medium containing computer program code,which can be executed by a computer processor for performing any or allof the steps, operations, or processes described.

Embodiments of the disclosure may also relate to an apparatus forperforming the operations herein. This apparatus may be speciallyconstructed for the required purposes, and/or it may comprise ageneral-purpose computing device selectively activated or reconfiguredby a computer program stored in the computer. Such a computer programmay be stored in a non-transitory, tangible computer readable storagemedium, or any type of media suitable for storing electronicinstructions, which may be coupled to a computer system bus.Furthermore, any computing systems referred to in the specification mayinclude a single processor or may be architectures employing multipleprocessor designs for increased computing capability.

Embodiments of the disclosure may also relate to a product that isproduced by a computing process described herein. Such a product maycomprise information resulting from a computing process, where theinformation is stored on a non-transitory, tangible computer readablestorage medium and may include any embodiment of a computer programproduct or other data combination described herein.

Finally, the language used in the specification has been principallyselected for readability and instructional purposes, and it may not havebeen selected to delineate or circumscribe the inventive subject matter.It is therefore intended that the scope of the disclosure be limited notby this detailed description, but rather by any claims that issue on anapplication based hereon. Accordingly, the disclosure of the embodimentsis intended to be illustrative, but not limiting, of the scope of thedisclosure, which is set forth in the following claims.

What is claimed is:
 1. A system for generating a structured lightpattern, comprising: an array of lasers that generate light, the arrayof lasers including a plurality of lasers that are grouped into at leasttwo subsets of lasers, and wherein each of the at least two subsets oflasers is independently switchable; and an optical element thatcomprises a plurality of cells that are each aligned with a respectivesubset of the array of lasers such that each cell receives light from acorresponding laser of the array of lasers, and each cell individuallyapplies a modulation to the received light passing through the cell toform a corresponding portion of the structured light pattern that isprojected onto a local area.
 2. The system of claim 1, wherein themodulation is one member of a group comprising: a diffractivemodulation, a refractive modulation, and a combination of a diffractivemodulation and a refractive modulation.
 3. The system of claim 1,wherein a subset of the array of lasers, of the at least two subsets,and its respective cells are constructed from a single molded element.4. The system of claim 1, wherein a width of a cell, of the plurality ofcells, is 1 mm or less.
 5. The system of claim 1, wherein one or morecells are individually controllable to change modulation.
 6. The systemof claim 5, wherein the one or more of cells associated with an opticalelement are controllable to dynamically provide changes to thestructured light pattern based on receiving and analyzing at least onecaptured frame, the frame comprising a plurality of pixels in atwo-dimensional layout.
 7. The system of claim 5, wherein the pluralityof cells is further controllable with respect to a position and a shapeof the generated structured light pattern.
 8. The system of claim 6,wherein the dynamic control is configurable to apply the structuredlight pattern with increased resolution to a first part portion of thestructured light pattern and to apply the structured light pattern withreduced resolution to a second portion of the local area.
 9. The systemof claim 6, wherein changes to the structured light pattern comprise achange in at least one cell of a plurality of cells associated with anoptical element.
 10. The system of claim 6, wherein changes to thestructured light pattern comprise a change in at least one cell of aplurality of cells associated with an optical element.
 11. The system ofclaim 10, wherein changes to the structured light pattern comprise achange in at least one cell of a plurality of cells.
 12. A system forgenerating a structured light pattern, comprising: an array of lasersthat generate light, the array of lasers including a plurality of lasersthat are grouped into at least two subsets of lasers, and wherein eachof the at least two subsets of lasers is independently switchable; anoptical element that comprises a plurality of cells that are eachaligned with a respective subset of the array of lasers such that eachcell receives light from a corresponding laser of the array of lasers,and each cell individually applies a modulation to the received lightpassing through the cell to form a corresponding portion of thestructured light pattern that is projected onto a local area; an imagerconfigured to capture one or more images of the local area, and the oneor more images include at least a portion of the structured lightpattern; and a controller configured to determine depth information forone or more objects in the three-dimensional space using the one or moreimages.
 13. The apparatus of claim 12, wherein the modulation is onemember of a group comprising: a diffractive modulation, a refractivemodulation, and a combination of a diffractive modulation and arefractive modulation.
 14. The system of claim 12, wherein a subset ofthe array of lasers, of the at least two subsets, and its respectivecells are constructed from a single molded element.
 15. The system ofclaim 12, wherein a width of a cell, of the plurality of cells, is 1 mmor less.
 16. The system of claim 12, wherein one or more cells areindividually controllable to change modulation.
 17. The system of claim16, wherein the one or more of cells are controllable to dynamicallyprovide changes to the structured light pattern based on receiving andanalyzing at least one captured frame, said frame comprising a pluralityof pixels in a two-dimensional layout.
 18. The system of claim 16,wherein the plurality of cells are further controllable with respect toa position and a shape of the generated structured light pattern. 19.The system of claim 17, wherein the dynamic control is configurable toapply the structured light pattern with increased resolution to a firstpart portion of the structured light pattern and to apply the structuredlight pattern with reduced resolution to a second portion of the localarea.
 20. A system for generating a structured light pattern comprising:an array of lasers that generate light, the array of lasers including aplurality of lasers that are grouped into at least two subsets oflasers, and wherein each of the at least two subsets of lasers isindependently switchable; an optical element that comprises a pluralityof cells that are each aligned with a respective subset of the array oflasers such that each cell receives light from a corresponding laser ofthe array of lasers, and each cell individually applies a modulation tothe received light passing through the cell to form a correspondingportion of the structured light pattern that is projected onto a localarea; an imager configured to capture one or more images of the localarea, and the one or more images include at least a portion of thestructured light pattern; and a controller configured to change themodulation of one or more lasers based on the one or more capturedframes.